IdentificationNode.hpp
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00034 #ifndef IDENTIFICATIONNODE_HPP_
00035 #define IDENTIFICATIONNODE_HPP_
00036 #include <labust/control/SOIdentification.hpp>
00037 #include <labust/simulation/matrixfwd.hpp>
00038 
00039 #include <auv_msgs/NavSts.h>
00040 #include <actionlib/server/simple_action_server.h>
00041 #include <navcon_msgs/DOFIdentificationAction.h>
00042 #include <ros/ros.h>
00043 
00044 #include <Eigen/Dense>
00045 
00046 namespace labust
00047 {
00048         namespace control
00049         {
00057                 class IdentificationNode
00058                 {
00059                         enum {x=0,y,z,roll,pitch,yaw,altitude, u, v, w, measNum};
00060                         enum {X=0,Y,Z,K,M,N};
00061                         enum {alpha=0,beta,betaa};
00062 
00063                         typedef navcon_msgs::DOFIdentificationAction Action;
00064                         typedef actionlib::SimpleActionServer<Action> ActionServer;
00065                         typedef boost::shared_ptr<ActionServer> ActionServerPtr;
00066                         typedef navcon_msgs::DOFIdentificationGoal Goal;
00067                         typedef navcon_msgs::DOFIdentificationResult Result;
00068 
00069                         typedef Eigen::Matrix<double, measNum,1> MeasVec;
00070 
00071                 public:
00075                         IdentificationNode();
00079                         void onInit();
00080 
00081                 private:
00085                         void onMeasurement(const auv_msgs::NavSts::ConstPtr& meas);
00089                         void doIdentification(const Goal::ConstPtr& goal);
00093                         void setTau(int elem, double value);
00094 
00098                         ros::Publisher tauOut, stateOut;
00102                         ros::Subscriber meas;
00106                   ActionServerPtr aserver;
00110                   boost::thread identrunner;
00114                   MeasVec measurements;
00121                   bool integrateUV;
00127                   bool useUV;
00133                   bool useW;
00137                   double cumulative_error;
00141                   boost::mutex measmux;
00142                 };
00143         }
00144 }
00145 
00146 /* IDENTIFICATIONNODE_HPP_ */
00147 #endif


ident_so
Author(s): Gyula Nagy
autogenerated on Fri Aug 28 2015 11:23:43